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公开(公告)号：US06555784B2
公开(公告)日：2003-04-29
申请号：US09832206
申请日：2001-04-11
IPC分类号： B23K2636
CPC分类号： B23K26/0613 , B23K26/0604 , B23K26/067
摘要： A laser machining apparatus with a simplified laser beam transmitting network. Respective laser beams form laser generators LS#11 to LS#25 divided into groups of G1 and G2 are aggregated to fiber-optic cables H1 and H2 by confluence devices HC1 and HC2 and transmitted to a most upstream laser beam outlet OP1. The laser beams are further aggregated to a fiber-optic cable H3 and distributed to a branch fiber-optic cable HH1 by the laser beam outlet OP1, and then distributed by laser beam outlet OP2 to OP8 to branch fiber-optic cables HH2 to HH8. The laser beams distributed to branch fiber-optic cables are focused by the machining tools TL1 to TL8 attached to robots RB1 to RB8 for laser machining. By controlling output levels of the laser generators with different oscillation wavelengths and different polarization characteristics, blend ratio of the laser beams can be adjusted. Distribution ratios of the laser beams at the laser beam outlets OP1 to OP8 are adjustable.
摘要翻译： 激光加工设备，具有简化的激光束传输网络。 各激光束形成分为G1和G2组的激光发生器LS＃11至LS＃25通过汇流装置HC1和HC2聚集到光纤电缆H1和H2并传输到最上游的激光束出口OP1。 激光束进一步聚集到光纤电缆H3，并由激光束出口OP1分配到分支光纤电缆HH1，然后由激光束出口OP2分配到OP8以分支光纤电缆HH2至HH8。 分配到分支光纤电缆的激光束由机器人RB1至RB8附加的加工工具TL1至TL8聚焦，用于激光加工。 通过控制具有不同振荡波长和不同极化特性的激光发生器的输出电平，可以调整激光束的混合比。 激光束出口OP1至OP8处的激光束的分布比是可调节的。
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公开(公告)号：US06538231B2
公开(公告)日：2003-03-25
申请号：US09813025
申请日：2001-03-21
IPC分类号： B23K2606
CPC分类号： B23K26/0613 , B23K26/067
摘要： A plurality of laser generators are provided to be environmentally separated from a machining station, and temperature, humidity, vibration, cleanliness and the like are detected by a sensor, and displayed. When an abnormal environment is detected, machining operation is stopped immediately or after a predetermined time elapsed. The laser generators are grouped according to each machining tool, and fiber-optic cable switching devices FC3 and FC4 are arranged for each group. By the switchover of the laser generator, and the selective connection of a fiber-optic cable by using the fiber-optic cable switching device, the degree of freedom in selecting the laser generator and the fiber-optic cable is produced. The degree of freedom is utilized according to the abnormality of the laser generator, the abnormality of the fiber-optic cable, the type of machining work, and the like, by which a machining apparatus in which the occurrence of a partial failure does not lead to long-term shutdown of a manufacturing line can be obtained.
摘要翻译： 多个激光发生器被设置为与加工台环境分离，并且通过传感器检测温度，湿度，振动，清洁度等并显示。 当检测到异常环境时，立即停止加工操作或经过预定时间。 激光发生器根据每个加工工具进行分组，并为每个组布置光纤电缆交换设备FC3和FC4。 通过激光发生器的切换以及通过使用光纤电缆切换装置选择性地连接光纤电缆，产生了选择激光发生器和光纤电缆的自由度。 根据激光发生器的异常，光纤电缆的异常，加工工作的类型等来利用自由度，通过该自由度，发生部分故障的加工装置不会导致 可以获得长期停产的生产线。
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公开(公告)号：US06763284B2
公开(公告)日：2004-07-13
申请号：US10001991
申请日：2001-12-05
申请人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
IPC分类号： G05B1900
CPC分类号： B25J9/1697 , G05B19/4202 , G05B2219/35506 , G05B2219/36415 , G05B2219/37288 , G05B2219/37571 , G05B2219/37572 , G05B2219/40005
摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.
摘要翻译： 使用相机拍摄参考对象的图像并进行显示。 测量起点由图像位置指示装置指向。 使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。 光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。 拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。 使用这些位置创建机器人的移动路径作为工作机器人的教导点。
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公开(公告)号：US20050107918A1
公开(公告)日：2005-05-19
申请号：US10954606
申请日：2004-10-01
申请人： Atsushi Watanabe , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Mitsuhiro Okuda
IPC分类号： G05B19/4063 , B25J9/16 , G05B19/404 , G05B19/00 , G05B15/00 , G06F19/00
CPC分类号： B25J9/1684 , G05B2219/4705
摘要： Provided is a correction data checking system, for robots, which makes it easy to reveal the cause of a machining defect. A laser machining head and a distance sensor or a sensor for detecting a work line are attached to the distal end of a robot arm. A robot is driven based on a teaching program, and a copying control technique is implemented based on information sent from the sensor so that the distance between the laser machining head and a workpiece will be equal to a set value. A path of taught positions of the laser machining head and a path of actual positions thereof are displayed in comparison with each other on a display of a teaching console or the like. Moreover, the difference between the taught position and actual position is calculated and displayed. As both the position commanded by the teaching program and the actual position derived from the copying control technique are displayed, if a machining defect occurs, the machining defect is checked to see if it is a problem attributable to the sensor or a problem attributable to the workpiece or a jig. The cause of the machining defect is then revealed. Consequently, the cause of a machining defect can be quickly revealed and dealt with at a working site.
摘要翻译： 提供了一种用于机器人的校正数据检查系统，其易于揭示加工缺陷的原因。 激光加工头和距离传感器或用于检测工作线的传感器安装在机器人手臂的远端。 基于教学程序驱动机器人，并且基于从传感器发送的信息实现复印控制技术，使得激光加工头与工件之间的距离将等于设定值。 激光加工头的教导位置的路径和实际位置的路径在教学控制台等的显示器上相互比较地显示。 此外，计算并显示教导位置和实际位置之间的差异。 由于显示了由教学程序命令的位置和从复制控制技术导出的实际位置，如果发生加工缺陷，则检查加工缺陷，看是否是由传感器引起的问题或归因于 工件或夹具。 然后揭示加工缺陷的原因。 因此，加工缺陷的原因可以在工作现场快速揭示和处理。
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公开(公告)号：US07149602B2
公开(公告)日：2006-12-12
申请号：US10954606
申请日：2004-10-01
申请人： Atsushi Watanabe , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Mitsuhiro Okuda
IPC分类号： G06F19/00
CPC分类号： B25J9/1684 , G05B2219/4705
摘要： Provided is a correction data checking system, for robots, which makes it easy to reveal the cause of a machining defect. A laser machining head and a distance sensor or a sensor for detecting a work line are attached to the distal end of a robot arm. A robot is driven based on a teaching program, and a copying control technique is implemented based on information sent from the sensor so that the distance between the laser machining head and a workpiece will be equal to a set value. A path of taught positions of the laser machining head and a path of actual positions thereof are displayed in comparison with each other on a display of a teaching console or the like. Moreover, the difference between the taught position and actual position is calculated and displayed. As both the position commanded by the teaching program and the actual position derived from the copying control technique are displayed, if a machining defect occurs, the machining defect is checked to see if it is a problem attributable to the sensor or a problem attributable to the workpiece or a jig. The cause of the machining defect is then revealed. Consequently, the cause of a machining defect can be quickly revealed and dealt with at a working site.
摘要翻译： 提供了一种用于机器人的校正数据检查系统，其易于揭示加工缺陷的原因。 激光加工头和距离传感器或用于检测工作线的传感器安装在机器人手臂的远端。 基于教学程序驱动机器人，并且基于从传感器发送的信息实现复印控制技术，使得激光加工头与工件之间的距离将等于设定值。 激光加工头的教导位置的路径和实际位置的路径在教学控制台等的显示器上相互比较地显示。 此外，计算并显示教导位置和实际位置之间的差异。 由于显示了由教学程序命令的位置和从复制控制技术导出的实际位置，如果发生加工缺陷，则检查加工缺陷，看是否是由传感器引起的问题或归因于 工件或夹具。 然后揭示加工缺陷的原因。 因此，加工缺陷的原因可以在工作现场快速揭示和处理。
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公开(公告)号：US20050143861A1
公开(公告)日：2005-06-30
申请号：US11019466
申请日：2004-12-23
CPC分类号： B25J9/1684 , G05B2219/45057
摘要： A processing system for stably processing a workpiece even if the shape of the workpiece changes every production lot of the workpiece, or by a change of the workpiece. The distance between the workpiece and an end of a nozzle of a laser machining head is measured by a distance sensor. A data correcting value ΔZ′mn is calculated using a measured distance ΔZrn at each teaching point and a set gap value ΔZs (step S6-S15). By using ΔZ′mn, the data of the teaching points are corrected to new data of the teaching points of the program (step S16-S19). The distance between the workpiece and the end of the nozzle of the laser machining head does not become larger because the teaching points of the processing program are corrected every time when the workpiece is processed. The interference between the workpiece and the head may be prevented and the processing may be stably implemented because the amount of correction becomes smaller when the position of the head is corrected during the processing.
摘要翻译： 即使工件的形状改变工件的每个生产批次，也可以通过工件的变化来稳定地处理工件的处理系统。 通过距离传感器测量工件与激光加工头的喷嘴端部之间的距离。 使用每个教导点处的测量距离DeltaZrn和设定的间隙值DeltaZs来计算数据校正值DeltaZ'mn（步骤S6〜15）。 通过使用DeltaZ'mn，将教学点的数据校正为程序的教学点的新数据（步骤S 16 -S 19）。 激光加工头部的工件与喷嘴的端部之间的距离不会变大，这是因为每当加工工件被处理时校正处理程序的教导点。 可以防止工件和头部之间的干涉，并且可以稳定地执行处理，因为在处理期间校正头部的位置时校正量变小。
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公开(公告)号：US06680461B2
公开(公告)日：2004-01-20
申请号：US10118978
申请日：2002-04-10
IPC分类号： B23K2602
CPC分类号： B23K26/04
摘要： A nozzle system for laser machining capable of maintaining an interference region of a robot in a teaching operation to be substantially the same as that in a laser machining operation. An optical fiber supporting unit is attached to a nozzle body unit having laser beam converging lens for performing a laser machining operation. An optical fiber for supplying a laser beam is connected to an optical fiber connector on the optical fiber supporting unit. A laser machining is performed by combination of the nozzle body unit and the optical fiber supporting member attached to a distal end of a robot arm. In a teaching operation, a camera supporting unit (dummy nozzle) having substantially the same dimension as the nozzle body unit and supporting a camera at a predetermined position is used in place of the optical fiber supporting unit and the nozzle body unit. Alternatively, the nozzle body unit may be used commonly in combination with the optical fiber supporting unit in the machining operation and with the camera supporting unit in the teaching operation. A visual sensor using projection of a spot beam or slit beams may be adopted.
摘要翻译： 一种用于激光加工的喷嘴系统，其能够将教导操作中的机器人的干涉区域保持为与激光加工操作基本相同的激光加工。 光纤支撑单元附接到具有用于进行激光加工操作的激光束会聚透镜的喷嘴主体单元。 用于提供激光束的光纤连接到光纤支撑单元上的光纤连接器。 激光加工通过喷嘴体单元和附接到机器人臂的远端的光纤支撑构件的组合来执行。 在教学操作中，代替光纤支撑单元和喷嘴体单元，使用具有与喷嘴主体单元基本相同的尺寸并且将相机支撑在预定位置的相机支撑单元（虚拟喷嘴）。 或者，喷嘴主体单元可以在加工操作中与光纤支撑单元共同使用，并且在教学操作中可与照相机支撑单元一起使用。 可以采用使用点光束或狭缝光束的投影的视觉传感器。
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8.发明授权Robot apparatus for installing both a robot movable section and a robot controller 失效用于安装机器人可移动部分和机器人控制器的机器人装置
公开(公告)号：US5983744A
公开(公告)日：1999-11-16
申请号：US855574
申请日：1997-05-13
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
CPC分类号： B25J9/00 , B25J13/06 , B25J19/00 , Y10T74/20305 , Y10T74/20311
摘要： A robot apparatus having no need for securing a space for installing both a robot movable section and a robot controller. The robot apparatus includes a frame having strength enough to support the robot movable section, and containing the robot controller therein. The robot movable section is installed on the frame. The robot controller and the robot movable section are electrically connected to each other via a coupling cable passing through a hole formed inside. Over the base of the robot movable section, first, second and another arms are provided via rotating mechanism portions. The distal end of the third arm constitutes a wrist portion of a robot. Various types of hands are attached to this wrist portion. Thus, the robot movable section can be installed on the frame containing the robot controller.
摘要翻译： 一种机器人装置，不需要固定用于安装机器人可移动部分和机器人控制器的空间。 机器人装置包括具有足以支撑机器人可移动部分的强度的框架，并且在其中容纳机器人控制器。 机器人可移动部分安装在框架上。 机器人控制器和机器人可移动部分通过穿过内部形成的孔的耦合电缆彼此电连接。 在机器人可移动部分的基部上，通过旋转机构部分设置第一和第二臂。 第三臂的远端构成机器人的腕部。 各种手指附着在该腕部上。 因此，机器人可移动部分可以安装在包含机器人控制器的框架上。
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公开(公告)号：US5520062A
公开(公告)日：1996-05-28
申请号：US412123
申请日：1995-03-28
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
CPC分类号： B23K9/1274 , B25J19/0058 , B25J19/02
摘要： A window mechanism for a sensor provided at the distal end of a robot arm of an industrial robot comprises a housing for enclosing the sensor which housing includes an opening, a glass plate for closing the opening, wiper for wiping the outer surface of the glass plate, a holder plate for slidably holding the glass plate member on the housing, and an exchanger for exchanging the plate member held by the holder with a new glass plate.
摘要翻译： 设置在工业机器人的机器人臂的远端处的传感器的窗口机构包括用于封闭传感器的壳体，该壳体包括开口，用于封闭开口的玻璃板，用于擦拭玻璃板的外表面的擦拭器 ，用于将玻璃板构件可滑动地保持在壳体上的保持板，以及用于将由保持器保持的板构件与新玻璃板更换的换热器。
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公开(公告)号：US5587635A
公开(公告)日：1996-12-24
申请号：US446713
申请日：1995-05-30
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada
IPC分类号： B25J19/06 , G05B19/4065 , H02P29/00 , H02K17/32
CPC分类号： G05B19/4065 , G05B2219/37209 , G05B2219/37344 , G05B2219/45083 , Y02P90/265
摘要： A robot control apparatus in which a load exerted on a driving system of a robot is detected to make it easy to judge a time for preventive maintenance or overhaul, and life of the robot driving system. A driving torque Ta outputted to the driving system is found by subtracting a torque which is spent in a motor itself for accelerating or decelerating a rotor from an output torque T of a motor M for driving each axis of the robot. Further, an average torque of the driving torque Ta and an average speed of an output shaft of the motor M are found and displayed. An average torque of an output torque of a speed reducer and an average speed of an output shaft of the speed reducer are obtained, and, based on these values, the life of the speed reducer is determined. Then a ratio of the determined life to a rated life is obtained and displayed. An actual load exerted on the driving system is monitored, so that the time for the preventive maintenance or overhaul, and life of the driving system is easily judged. Also, the life of the speed reducer is easily predicted.
摘要翻译： PCT No.PCT / JP94 / 01582 Sec。 371日期：1995年5月30日 102（e）日期1995年5月30日PCT 1994年9月27日PCT公布。 公开号WO95 / 09479 日期1995年4月6日一种机器人控制装置，其中检测到施加在机器人的驱动系统上的负载，以便容易地判断用于预防性维护或大修的时间以及机器人驱动系统的寿命。 通过从用于驱动机器人的每个轴的电动机M的输出转矩T减去用于电动机本身用于加速或减速转子的转矩，找到驱动系统输出的驱动转矩Ta。 此外，找到并显示驱动转矩Ta的平均转矩和电动机M的输出轴的平均速度。 获得减速器的输出转矩的平均转矩和减速器的输出轴的平均转速，并根据这些值确定减速机的寿命。 然后获得并显示确定的寿命与额定寿命的比率。 对驱动系统施加的实际负载进行监控，以便容易地判断驾驶系统的预防性维护或大修时间和使用寿命。 此外，减速器的寿命也容易预测。
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